version: 66.06
glider: 139
mission: 8
dive: 805
start: 11 1 110 9 56 4
data:
$ID,139
$MISSION,8
$DIVE,805
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2168403
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1450
$C_ROLL_CLIMB,1420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2630
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,094920,2058.481,-15750.648,13,1.5,13,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.2
$GPS2,095544,2058.482,-15750.622,15,1.8,15,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,302.9,26900,-16.6,-7.895
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,87,0.00,0.00,-69.80,0.000,2,0.000,0.000,423,1418,2787,0,0,0,0,0,0
$GC,91,-1.18,-116.8,3.7,-3.8,13,116,12.73,2.42,-6.00,0.000,4,0.133,0.032,2787,2883,3108,0,0,0,0,0,0
$GC,181,-1.09,-116.8,21.8,-15.3,31,189,0.08,2.47,0.00,0.000,6,0.080,0.034,2807,1453,3110,0,0,0,0,0,0
$GC,384,-0.92,-116.8,49.9,-13.3,55,389,0.20,2.10,0.00,0.000,4,0.089,0.044,2849,234,3111,0,0,0,0,0,0
$GC,439,-0.81,-116.8,56.8,-13.0,59,444,0.12,2.00,0.00,0.000,6,0.094,0.018,2875,1513,3111,0,0,0,0,0,0
$GC,705,-0.81,-116.8,80.7,-8.5,80,709,0.00,2.20,0.00,0.000,4,0.000,0.045,2876,231,3112,0,0,0,0,0,0
$GC,729,-0.81,-116.8,83.1,-9.5,81,735,0.00,2.00,0.00,0.000,6,0.000,0.019,2875,1524,3112,0,0,0,0,0,0
$GC,988,-0.84,-116.8,106.5,-9.7,102,992,0.00,2.20,0.00,0.000,4,0.000,0.044,2875,232,3112,0,0,0,0,0,0
$GC,1057,-0.89,-116.8,112.4,-8.7,107,1061,0.00,2.03,0.00,0.000,6,0.000,0.018,2875,1522,3113,0,0,0,0,0,0
$GC,1327,-0.99,-116.8,129.7,-5.2,128,1331,0.17,2.22,0.00,0.000,4,0.048,0.044,2816,231,3113,0,0,0,0,0,0
$GC,1358,-0.95,-116.8,131.9,-8.1,130,1362,0.12,2.00,0.00,0.000,6,0.090,0.019,2844,1520,3113,0,0,0,0,0,0
$GC,1627,-1.00,-116.8,151.6,-7.6,151,1631,0.00,2.20,0.00,0.000,4,0.000,0.044,2843,232,3114,0,0,0,0,0,0
$GC,1659,-1.05,-116.8,154.0,-7.8,153,1664,0.10,2.00,0.00,0.000,6,0.071,0.019,2803,1524,3114,0,0,0,0,0,0
$GC,1927,-1.01,-116.8,174.0,-7.4,174,1931,0.12,2.22,0.00,0.000,4,0.093,0.021,2830,2881,3114,0,0,0,0,0,0
$GC,1983,-1.09,-116.8,178.4,-6.9,178,1987,0.00,2.42,0.00,0.000,6,0.000,0.031,2830,1439,3114,0,0,0,0,0,0
$GC,2245,-1.09,-116.8,198.1,-7.9,198,2249,0.00,2.05,0.00,0.000,4,0.000,0.045,2830,235,3114,0,0,0,0,0,0
$GC,2300,-1.09,-116.8,203.4,-8.7,201,2304,0.00,1.98,0.00,0.000,6,0.000,0.020,2830,1511,3115,0,0,0,0,0,0
$GC,2629,-1.12,-116.8,226.2,-6.5,217,2634,0.12,2.22,0.00,0.000,4,0.063,0.046,2785,236,3114,0,0,0,0,0,0
$GC,2668,-1.05,-116.8,230.0,-9.3,218,2675,0.12,2.00,0.00,0.000,6,0.061,0.020,2819,1506,3114,0,0,0,0,0,0
$GC,2985,-1.05,-116.8,252.6,-6.3,234,2989,0.00,2.15,0.00,0.000,4,0.000,0.047,2820,239,3114,0,0,0,0,0,0
$GC,3022,-1.05,-116.8,255.0,-6.3,235,3028,0.00,2.00,0.00,0.000,6,0.000,0.021,2819,1517,3114,0,0,0,0,0,0
$GC,3342,-1.09,-116.8,275.0,-7.5,251,3345,0.00,2.17,0.00,0.000,4,0.000,0.048,2819,239,3113,0,0,0,0,0,0
$GC,3374,-1.09,-116.8,278.0,-8.7,252,3378,0.00,2.00,0.00,0.000,6,0.000,0.021,2820,1506,3113,0,0,0,0,0,0
$GC,3716,-1.13,-116.8,303.4,-7.0,268,3720,0.00,2.22,0.00,0.000,4,0.000,0.024,2819,2873,3112,0,0,0,0,0,0
$GC,3733,-1.18,-116.8,304.6,-6.8,268,3738,0.12,2.40,0.00,0.000,6,0.062,0.035,2776,1444,3112,0,0,0,0,0,0
$GC,4085,-1.12,-116.8,332.6,-8.2,277,4090,0.15,2.38,0.00,0.000,4,0.087,0.025,2808,2875,3110,0,0,0,0,0,0
$GC,4121,-1.22,-116.8,335.2,-7.0,277,4126,0.10,2.42,0.00,0.000,6,0.071,0.035,2767,1448,3110,0,0,0,0,0,0
$GC,4455,-1.15,-116.8,360.1,-7.2,285,4460,0.15,2.10,0.00,0.000,4,0.087,0.051,2799,239,3108,0,0,0,0,0,0
$GC,4502,-1.15,-116.8,363.3,-5.6,286,4506,0.00,2.00,0.00,0.000,6,0.000,0.023,2800,1493,3108,0,0,0,0,0,0
$GC,4831,-1.15,-116.8,384.4,-6.9,294,4835,0.00,2.20,0.00,0.000,4,0.000,0.026,2800,2833,3106,0,0,0,0,0,0
$GC,4864,-1.25,-116.8,387.1,-7.7,294,4869,0.00,2.38,0.00,0.000,6,0.000,0.037,2800,1447,3105,0,0,0,0,0,0
$GC,5197,-1.25,-116.8,412.2,-7.3,302,5201,0.00,2.10,0.00,0.000,4,0.000,0.053,2800,237,3103,0,0,0,0,0,0
$GC,5225,-1.25,-116.8,414.4,-8.2,302,5229,0.00,1.92,0.00,0.000,6,0.000,0.025,2800,1455,3103,0,0,0,0,0,0
$GC,5565,-1.25,-116.8,441.3,-7.9,311,5569,0.00,2.25,0.00,0.000,4,0.000,0.028,2800,2826,3101,0,0,0,0,0,0
$GC,5591,-1.32,-116.8,443.3,-7.9,311,5596,0.17,2.35,0.00,0.000,6,0.051,0.040,2745,1450,3101,0,0,0,0,0,0
$STATE,5685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5686,begin apogee
$GC,5692,-0.31,0.0,453.0,10.1,314,5792,1.10,0.00,96.57,0.831,6,0.069,0.000,2981,1450,2629,0,0,0,0,0,0
$STATE,5793,end apogee,CONTROL_FINISHED_OK
$STATE,5793,begin climb
$GC,5796,1.18,116.8,456.8,0.0,316,5909,1.40,2.35,101.28,0.815,4,0.032,0.028,3312,2796,2152,0,0,0,0,0,0
$GC,5934,1.04,165.3,457.9,5.7,319,5983,0.17,2.42,42.90,0.792,6,0.099,0.041,3278,1420,1955,0,0,0,0,0,0
$GC,6298,0.90,173.9,431.1,7.5,328,6309,0.15,0.00,7.62,0.659,6,0.104,0.000,3248,1420,1920,0,0,0,0,0,0
$GC,6623,0.82,173.9,404.5,8.4,336,6627,0.00,2.12,0.00,0.000,4,0.000,0.058,3248,235,1916,0,0,0,0,0,0
$GC,6662,0.68,173.9,401.1,8.8,336,6668,0.25,1.92,0.00,0.000,6,0.092,0.027,3198,1413,1913,0,0,0,0,0,0
$GC,6994,0.79,226.8,382.2,5.5,345,7047,0.10,2.40,46.92,0.787,4,0.080,0.029,3227,2805,1704,0,0,0,0,0,0
$GC,7091,0.93,277.3,376.3,5.6,347,7144,0.12,2.45,45.00,0.774,6,0.067,0.042,3263,1413,1499,0,0,0,0,0,0
$GC,7454,0.92,318.3,351.7,6.0,356,7497,0.00,2.17,35.45,0.755,4,0.000,0.060,3263,229,1332,0,0,0,0,0,0
$GC,7554,0.83,318.3,343.6,10.0,358,7559,0.17,1.95,0.00,0.000,6,0.096,0.028,3229,1423,1326,0,0,0,0,0,0
$GC,7875,0.88,318.3,318.6,8.2,366,7879,0.00,2.12,0.00,0.000,4,0.000,0.058,3229,236,1324,0,0,0,0,0,0
$GC,7902,0.88,318.3,315.7,9.6,366,7906,0.00,1.95,0.00,0.000,6,0.000,0.028,3229,1419,1323,0,0,0,0,0,0
$GC,8225,0.94,318.3,288.8,8.1,377,8230,0.12,2.08,0.00,0.000,4,0.067,0.057,3265,235,1322,0,0,0,0,0,0
$GC,8265,0.86,318.3,284.9,9.9,378,8272,0.10,1.98,0.00,0.000,6,0.077,0.028,3241,1427,1320,0,0,0,0,0,0
$GC,8581,0.90,318.3,258.4,8.3,394,8585,0.00,2.10,0.00,0.000,4,0.000,0.056,3241,233,1320,0,0,0,0,0,0
$GC,8627,0.90,318.3,253.8,9.7,396,8631,0.00,1.92,0.00,0.000,6,0.000,0.027,3241,1427,1319,0,0,0,0,0,0
$GC,8958,1.02,360.3,229.3,6.0,412,9002,0.15,2.38,35.42,0.680,4,0.060,0.027,3285,2800,1161,0,0,0,0,0,0
$GC,9024,1.08,360.3,224.1,8.3,414,9030,0.00,2.45,0.00,0.000,6,0.000,0.041,3285,1422,1160,0,0,0,0,0,0
$GC,9342,1.08,360.3,192.9,10.1,432,9346,0.00,2.08,0.00,0.000,4,0.000,0.054,3285,232,1158,0,0,0,0,0,0
$GC,9403,1.03,360.3,186.3,10.1,436,9410,0.00,1.95,0.00,0.000,6,0.000,0.025,3284,1418,1155,0,0,0,0,0,0
$GC,9665,1.04,372.8,165.3,7.3,457,9682,0.00,2.35,11.45,0.571,4,0.000,0.025,3285,2806,1109,0,0,0,0,0,0
$GC,9694,1.07,394.0,163.2,6.9,459,9722,0.00,2.40,19.73,0.597,6,0.000,0.038,3285,1417,1022,0,0,0,0,0,0
$GC,9975,1.07,398.2,143.3,7.7,481,9987,0.00,2.08,4.75,0.430,4,0.000,0.051,3285,232,1005,0,0,0,0,0,0
$GC,10044,1.07,398.2,137.0,8.9,486,10048,0.00,1.90,0.00,0.000,6,0.000,0.024,3285,1427,1003,0,0,0,0,0,0
$GC,10316,1.14,398.2,113.4,8.1,507,10320,0.00,2.08,0.00,0.000,4,0.000,0.051,3285,233,1003,0,0,0,0,0,0
$GC,10373,1.14,398.2,108.2,8.5,511,10377,0.00,1.92,0.00,0.000,6,0.000,0.024,3285,1416,1002,0,0,0,0,0,0
$GC,10645,1.28,441.1,91.3,6.0,532,10688,0.20,2.12,36.95,0.547,4,0.047,0.048,3345,228,830,0,0,0,0,0,0
$GC,10731,1.20,441.1,83.8,9.6,538,10736,0.17,1.90,0.00,0.000,6,0.083,0.022,3309,1433,827,0,0,0,0,0,0
$GC,11000,1.27,441.1,65.0,8.2,559,11004,0.00,2.08,0.00,0.000,4,0.000,0.048,3309,231,826,0,0,0,0,0,0
$GC,11027,1.32,441.1,62.3,8.7,561,11031,0.12,1.88,0.00,0.000,6,0.061,0.021,3351,1429,826,0,0,0,0,0,0
$GC,11301,1.28,441.1,34.0,9.9,582,11306,0.12,2.08,0.00,0.000,4,0.093,0.048,3326,232,826,0,0,0,0,0,0
$GC,11327,1.28,441.1,30.8,9.5,584,11331,0.00,1.85,0.00,0.000,6,0.000,0.021,3326,1426,825,0,0,0,0,0,0
$GC,11594,1.31,443.9,5.1,7.8,643,11601,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1429,826,0,0,0,0,0,0
$STATE,11618,end climb,SURFACE_DEPTH_REACHED
$STATE,11618,begin surface coast
$FINISH,1.0,1.022092
$STATE,11659,end surface coast,CONTROL_FINISHED_OK
$STATE,11660,begin surface
$SM_CCo,11742,0.00,0.000,0,0,822,443.26
$SM_GC,1.79,12.48,0.00,0.00,0.025,0.000,0.000,425,1428,822,-12.00,-0.62,443.26
$IRIDIUM_FIX,2050.21,-15747.49,260100,060634
$TT8_MAMPS,0.029146
$HUMID,62.44
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,23.3,77.974
$10V_AH,10.0,62.468
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,31.550,137.225,484.050,0.000,0.000,29.434,32.534,178.635,4.500,0.000,16.074,1295.659,7785.982,496.604,1942.997,596.920,0.000,1416.942,0.000,1917.801,0.000,29.238,0.000
$DEVICE_MAMPS,133.458,59.826,830.661,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.671,422.303,935.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,37977,657
$CAP_FILE_SIZE,135707,0
$CFSIZE,260165632,168484864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011110,131307,2058.656,-15751.169,44,0.8,44,9.8